CN105652274A - Signal processing device of automobile track changing assisting system based on combined waveform - Google Patents
Signal processing device of automobile track changing assisting system based on combined waveform Download PDFInfo
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- CN105652274A CN105652274A CN201511009288.XA CN201511009288A CN105652274A CN 105652274 A CN105652274 A CN 105652274A CN 201511009288 A CN201511009288 A CN 201511009288A CN 105652274 A CN105652274 A CN 105652274A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9315—Monitoring blind spots
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Abstract
A signal processing device of an automobile track changing assisting system based on a combined waveform belongs to the field of signal processing and is used for resolving relative distance, relative velocity and direction angle on objects which are behind a driving automobile and are in a millimeter wave radar wave beam coverage area. The signal processing device is technologically characterized by comprising the components of an FFT calculating module which performs FFT calculation on waveform segments and IQ data that are acquired by A/D; a threshold detecting module which performs threshold detection on modulus of complex number after FFT transform of each waveform segment and outputs the position of the point with highest modulus of the complex number that corresponds with threshold exceeding; a Doppler frequency calculation module which performs calculation for obtaining the Doppler frequency of a constant-frequency segment; and an offset frequency calculation module which performs calculation for obtaining the offset frequency of a sawtooth wave segment.
Description
Technical field
The invention belongs to signal processing field, particularly relate to the signal processing apparatus of a kind of automobile lane change aid system.
Background technology
Lane change aid system is monitored also referred to as blind area, as an automobile intelligent safety technology, it is possible to by the electronic control system installed, remind in the rearview mirror of two, left and right or elsewhere in the safety range of driver rear and have clear or send a car, thus eliminating sight line blind area, improve traffic safety.
Current representational lane change aid system has following three classes:
One, run quickly the lane change auxiliary equipment in new E level. This device is that the sensor installed by automobile both sides finds out whether rear, both sides has vehicle, and information is controlled by computer system, reminds in the rearview mirror of two, left and right or elsewhere sending a car of driver rear.
Two, the lane change auxiliary of Volvo is blind spot information system. Lane change aid system adopts the photographic head of outside rear-view mirror root can adjust the distance 3 meters wide, a blind sector 9.5 meters long carries out the picture control of 25 frames/second, if having speed more than 10 kilometers/hour, and and vehicle speed difference mobile object (vehicle or pedestrian) between 20-70 kilometer/hour own enter this blind area, system contrasts every two field picture, when system think target further to time, the warning lamp on A post will light, it is prevented that accident occurs.
Three, the lane change auxiliary of Audi is lateral aid system. This cover system in speed intervention more than 60 kilometers/hour, can rely on the help of sensor, and the lateral aid system of Audi can detect the vehicle at farthest 50 meters of, rear flank side, if now lane change is potentially dangerous, rearview mirror will light warning lamp.
Summary of the invention
In order to running car rear, the target in millimetre-wave radar beam coverage, it is achieved the resolving of relative distance, relative velocity and deflection, the present invention proposes the signal processing apparatus of a kind of automobile lane change aid system based on combined waveform.
The technical scheme is that the signal processing apparatus of a kind of automobile lane change aid system based on combined waveform, described waveform includes constant frequency ripple CW and sawtooth waveforms FMCW, and described device includes:
FFT computing module, to each section of waveform, the I/Q data that A/D collects, carries out FFT calculating;
Threshold detection module, does Threshold detection by the plural modulus value after each section of waveform FFT, exports the position of the maximum point of plural modulus value corresponding to thresholding;
Doppler frequency value computing module, calculates the Doppler frequency value obtaining constant frequency section;
Beat frequency value computing module, calculates the beat frequency value obtaining sawtooth waveforms section.
Further, described device also includes:
Relative velocity computing module, calculates relative velocity;
Relative distance value computing module, calculates relative distance value.
Further, described device also includes: deflection computing module, calculated direction angle.
Further, FFT computing module, to first paragraph constant frequency ripple CW, second segment sawtooth waveforms FMCW in passage 1, the I/Q data that A/D collects, chooses each section of 256 high point data of the linearity, carries out 256 FFT respectively, to the first paragraph constant frequency ripple CW in passage 2, the I/Q data that A/D collects, chooses each section of 256 high point data of the linearity, carries out 256 FFT respectively;
Further, when Threshold detection module carries out over-threshold detection, if in passage 1, first paragraph constant frequency ripple CW, the coordinate of the point that the plural modulus value of threshold point is maximum is a excessively, second segment sawtooth waveforms FMCW, the coordinate crossing the maximum point of the plural modulus value of threshold point is b, if in passage 2, first paragraph constant frequency ripple CW, the coordinate of the point that the plural modulus value of threshold point is maximum is c excessively; If crossing the location point of thresholding equal to 1, then it is assumed that it is DC component, not as target discrimination, directly reject this location point.
Further, when Doppler frequency value computing module calculates the Doppler frequency value of constant frequency section, in passage 1, first paragraph constant frequency ripple CW, the coordinate of the point that the plural modulus value of threshold point is maximum is a excessively, and according to following rule, then the Doppler frequency that this point is corresponding is fda, in passage 2, first paragraph constant frequency ripple CW, the coordinate of the point that the plural modulus value of threshold point is maximum is c excessively, and according to following rule, then the Doppler frequency that this point is corresponding is fdc;
This rule is, if counting is 1��x��128, it is judged that gtoal setting, the Doppler frequency in its corresponding pointIt is 128 < x��256 if counting, it is judged that target is away from, the Doppler frequency in its corresponding point Wherein fsFor sample frequency.
Further, when beat frequency value computing module calculates the beat frequency value of sawtooth wave band, in passage 1, second segment sawtooth waveforms FMCW, the coordinate of the point that the plural modulus value of threshold point is maximum is b excessively, and according to following rule, then the beat frequency value that this point is corresponding is fob;
This rule is, if counting is 1��y��128, and the beat frequency value in its corresponding pointIt is 128 < y��256 if counting, the beat frequency value in its corresponding pointWherein fsFor sample frequency.
Further, when relative velocity computing module calculates relative velocity, according to the Doppler frequency value fd obtaineda, calculate the speed v of target, calculating speed formula isWherein, c is the light velocity, frequency centered by f.
Further, when relative distance value computing module calculates relative distance value, according to the calculated Doppler frequency value fd of constant frequency sectiona, and the beat frequency value fo that sawtooth wave band obtainsb, calculating the distance R of target, computed range formula isWherein, T is the action time of each section of waveform, and B is modulating bandwidth, and fd is Doppler frequency value, and fo is beat frequency value.
Further, during deflection computing module calculated direction angle, in passage 1, first paragraph constant frequency ripple CW crosses the position a of threshold point, calculates the phase value in corresponding point according to method calculated as below, and obtaining phasing matrix is ��a, in passage 2, first paragraph constant frequency ripple CW crosses the position b of threshold point, calculates the phase value in corresponding point according to method calculated as below, and obtaining phasing matrix is ��b;Calculate the phase contrast between the first paragraph constant frequency ripple CW and the first paragraph constant frequency ripple CW1 of passage 2 of passage 1, according to computing formula Obtaining phase difference matrix is �� ��ac; According to formula azimuth formula,Obtaining the deflection of target, wherein, d is antenna distance, and �� is wavelength.
Beneficial effect: The present invention gives a kind of signal processing method realizing automobile lane change aid system based on constant frequency ripple and sawtooth waveforms combined waveform, provides a kind of new approaches resolved for Waveform Design and target relevant information for relevant design personnel; Described method, it is possible to achieve the detection to the relative distance of single goal and relative velocity, can realize the detection function to target direction angle simultaneously.
Accompanying drawing explanation
Fig. 1 is based on the automobile lane change aid system signal processing flow figure of combined waveform;
Fig. 2 constant frequency ripple CW and sawtooth waveforms FMCW frequency variation diagram in a frequency sweep cycle.
Detailed description of the invention
Embodiment 1:A kind of signal processing apparatus of the automobile lane change aid system based on combined waveform, described waveform includes constant frequency ripple CW and sawtooth waveforms FMCW, this gives at mid frequency f is the concrete oscillogram under 24.128GHz operating frequency, first paragraph waveform is constant frequency ripple CW, operating frequency is 24.128GHz, and second segment waveform is the sawtooth waveforms FMCW risen, and operating frequency excursion is for change to 24.278GHz from 24.128GHz, bandwidth is 150MHz, and the cycle T of each section is 5ms. Constant frequency ripple CW is with sawtooth waveforms FMCW frequency variation diagram within the scope of a frequency sweep cycle as shown in Figure 1.
Device involved by the present embodiment, being mainly relative velocity is 80 kilometers/hour, and maximum detectable range is 50m, and minimum detectable range is that the target vehicle on the adjacent lane of 1m carries out detecting and tracking. Warning foundation etc. is provided for lane change according to the relative velocity of the target detected, relative distance and deflection.
Described device includes: FFT computing module, to each section of waveform, the I/Q data that A/D collects, carries out FFT calculating; Preferably, FFT computing module is to first paragraph constant frequency ripple CW, the second segment sawtooth waveforms FMCW in passage 1, the I/Q data that A/D collects, choose each section of 256 high point data of the linearity, carry out 256 FFT respectively, to the I/Q data collected of first paragraph constant frequency ripple CW, the A/D in passage 2, choose each section of 256 high point data of the linearity, carry out 256 FFT respectively. Wherein, linearity height should with referring to that the linearity represents that well meeting is better, and the data that linearity good intention gathers exactly exist certain linear relationship, and the linearity is bad, the data being exactly this section do not present certain linear relationship, and what show is the features such as non-linear relation. For analytical data more accurately, so only choosing the part presenting linear relationship in the data collected to do fft analysis.
Threshold detection module, does Threshold detection by the plural modulus value after each section of waveform FFT, exports the position of the maximum point of plural modulus value corresponding to thresholding; Preferably, when Threshold detection module carries out over-threshold detection, if in passage 1, first paragraph constant frequency ripple CW, the coordinate of the point that the plural modulus value of threshold point is maximum is a excessively, second segment sawtooth waveforms FMCW, the coordinate crossing the maximum point of the plural modulus value of threshold point is b, if in passage 2, first paragraph constant frequency ripple CW, the coordinate of the point that the plural modulus value of threshold point is maximum is c excessively; If crossing the location point of thresholding equal to 1, then it is assumed that it is DC component, not as target discrimination, directly reject this location point.
Doppler frequency value computing module, calculates the Doppler frequency value obtaining constant frequency section;Preferably, when Doppler frequency value computing module calculates the Doppler frequency value of constant frequency section, in passage 1, first paragraph constant frequency ripple CW, the coordinate of the point that the plural modulus value of threshold point is maximum is a excessively, and according to following rule, then the Doppler frequency that this point is corresponding is fda, in passage 2, first paragraph constant frequency ripple CW, the coordinate of the point that the plural modulus value of threshold point is maximum is c excessively, and according to following rule, then the Doppler frequency that this point is corresponding is fdc;
This rule is, if counting is 1��x��128, it is judged that gtoal setting, the Doppler frequency in its corresponding pointIt is 128 < x��256 if counting, it is judged that target is away from, the Doppler frequency in its corresponding point Wherein fsFor sample frequency.
Beat frequency value computing module, calculates the beat frequency value obtaining sawtooth waveforms section. Preferably, when beat frequency value computing module calculates the beat frequency value of sawtooth wave band, in passage 1, second segment sawtooth waveforms FMCW, the coordinate of the point that the plural modulus value of threshold point is maximum is b excessively, and according to following rule, then the beat frequency value that this point is corresponding is fob;
This rule is, if counting is 1��y��128, and the beat frequency value in its corresponding pointIt is 128 < y��256 if counting, the beat frequency value in its corresponding pointWherein fsFor sample frequency.
The present embodiment is for mid frequency at 24GHz or 77GHz, and the waveform that the CW signal modulated based on constant frequency ripple and the FMCW signal of saw wave modulator combine, according to a kind of method that this modulation waveform realizes automobile lane change aid system signal processing. The automobile lane change aid system designed by the method can realize running car rear, the target in millimetre-wave radar beam coverage, it is achieved the resolving of relative distance, relative velocity and deflection.
Embodiment 2:There is the technical scheme identical with embodiment 1 any one scheme, more specifically: described device also includes: relative velocity computing module, calculate relative velocity; Preferably, when relative velocity computing module calculates relative velocity, according to the Doppler frequency value fd obtaineda, calculate the speed v of target, calculating speed formula isWherein, c is the light velocity, frequency centered by f.
Embodiment 3:There is the technical scheme identical with embodiment 1 or 2 any one scheme, more specifically: described device also includes: relative distance value computing module, calculate relative distance value. Preferably, when relative distance value computing module calculates relative distance value, according to the calculated Doppler frequency value fd of constant frequency sectiona, and the beat frequency value fo that sawtooth wave band obtainsb, calculating the distance R of target, computed range formula isWherein, T is the action time of each section of waveform, and B is modulating bandwidth, and fd is Doppler frequency value, and fo is beat frequency value.
Embodiment 4:Having and the identical technical scheme of embodiment 1 or 2 or 3, more specifically, this device also includes deflection computing module, calculated direction angle.
Preferably, during deflection computing module calculated direction angle, in passage 1, first paragraph constant frequency ripple CW crosses the position a of threshold point, calculates the phase value in corresponding point according to method calculated as below, and obtaining phasing matrix is ��a, in passage 2, first paragraph constant frequency ripple CW crosses the position b of threshold point, calculates the phase value in corresponding point according to method calculated as below, and obtaining phasing matrix is ��b; Calculating the phase contrast between the first paragraph constant frequency ripple CW and the first paragraph constant frequency ripple CW1 of passage 2 of passage 1, obtaining phase difference matrix according to computing formula is �� ��ac;According to formula azimuth formula,Obtaining the deflection of target, wherein, d=7.5mm is antenna distance, and ��=12.4mm is wavelength.
Embodiment 5:A kind of signal processing method of the automobile lane change aid system based on combined waveform, the method corresponding with the device in device in embodiment 1-4, including:
S1. to each section of waveform, the I/Q data that A/D collects, FFT calculating is carried out;
S2. the plural modulus value after each section of waveform FFT is done Threshold detection, export the position of the maximum point of plural modulus value corresponding to thresholding;
S3. the Doppler frequency value obtaining constant frequency section is calculated;
S4. the beat frequency value obtaining sawtooth waveforms section is calculated.
S5. relative velocity is calculated;
S6. relative distance value is calculated.
S7. calculated direction angle.
Embodiment 6:A kind of automobile lane change aid system, is provided with the signal processing apparatus of the automobile lane change aid system based on combined waveform of technical scheme any one of embodiment 1 or 2 or 3 or 4.
The combined waveform of constant frequency ripple designed by the present embodiment and sawtooth waveforms, and the parameter involved by waveform chooses and is not limited to parameter disclosed in the present embodiment, those skilled in the art according to concrete application scenarios, can choose different design parameters, or waveform improved; In the technical scope of present disclosure, it is equal to replacement according to technical scheme and inventive concept thereof or is changed, all should be encompassed within protection scope of the present invention.
Claims (10)
1. the signal processing apparatus based on the automobile lane change aid system of combined waveform, it is characterised in that described waveform includes constant frequency ripple CW and sawtooth waveforms FMCW, and described device includes:
FFT computing module, to each section of waveform, the I/Q data that A/D collects, carries out FFT calculating;
Threshold detection module, does Threshold detection by the plural modulus value after each section of waveform FFT, exports the position of the maximum point of plural modulus value corresponding to thresholding;
Doppler frequency value computing module, calculates the Doppler frequency value obtaining constant frequency section;
Beat frequency value computing module, calculates the beat frequency value obtaining sawtooth waveforms section.
2. the signal processing apparatus of the automobile lane change aid system based on combined waveform as claimed in claim 1, it is characterised in that also include:
Relative velocity computing module, calculates relative velocity;
Relative distance value computing module, calculates relative distance value.
3. device as claimed in claim 1 or 2, it is characterised in that also include deflection computing module, calculated direction angle.
4. device as claimed in claim 1, it is characterized in that, FFT computing module, the I/Q data that the first paragraph constant frequency ripple CW in passage 1, second segment sawtooth waveforms FMCW, A/D are collected, choose each section of 256 high point data of the linearity, carry out 256 FFT respectively, to the I/Q data collected of first paragraph constant frequency ripple CW, the A/D in passage 2, choose each section of 256 high point data of the linearity, carry out 256 FFT respectively.
5. device as claimed in claim 1, it is characterized in that, when Threshold detection module carries out over-threshold detection, if in passage 1, first paragraph constant frequency ripple CW, the coordinate crossing the maximum point of the plural modulus value of threshold point is a, second segment sawtooth waveforms FMCW, the coordinate of the point that the plural modulus value of threshold point is maximum is b excessively, if in passage 2, first paragraph constant frequency ripple CW, the coordinate of the point that the plural modulus value of threshold point is maximum is c excessively; If crossing the location point of thresholding equal to 1, then it is assumed that it is DC component, not as target discrimination, directly reject this location point.
6. device as claimed in claim 1, it is characterized in that, when Doppler frequency value computing module calculates the Doppler frequency value of constant frequency section, in passage 1, first paragraph constant frequency ripple CW, the coordinate crossing the maximum point of the plural modulus value of threshold point is a, and according to following rule, then the Doppler frequency that this point is corresponding is fda, in passage 2, first paragraph constant frequency ripple CW, the coordinate of the point that the plural modulus value of threshold point is maximum is c excessively, and according to following rule, then the Doppler frequency that this point is corresponding is fdc;
This rule is, if counting is 1��x��128, it is judged that gtoal setting, the Doppler frequency in its corresponding pointIt is 128 < x��256 if counting, it is judged that target is away from, the Doppler frequency in its corresponding point Wherein fsFor sample frequency.
7. device as claimed in claim 1, it is characterized in that, when beat frequency value computing module calculates the beat frequency value of sawtooth wave band, in passage 1, second segment sawtooth waveforms FMCW, the coordinate crossing the maximum point of the plural modulus value of threshold point is b, and according to following rule, then the beat frequency value that this point is corresponding is fob;
This rule is, if counting is 1��y��128, and the beat frequency value in its corresponding pointIt is 128 < y��256 if counting, the beat frequency value in its corresponding pointWherein fsFor sample frequency.
8. device as claimed in claim 2, it is characterised in that when relative velocity computing module calculates relative velocity, according to the Doppler frequency value fd obtaineda, calculate the speed v of target, calculating speed formula isWherein, c is the light velocity, frequency centered by f.
9. device as claimed in claim 2, it is characterised in that when relative distance value computing module calculates relative distance value, according to the calculated Doppler frequency value fd of constant frequency sectiona, and the beat frequency value fo that sawtooth wave band obtainsb, calculating the distance R of target, computed range formula isWherein, T is the action time of each section of waveform, and B is modulating bandwidth, and fd is Doppler frequency value, and fo is beat frequency value.
10. device as claimed in claim 3, it is characterised in that during deflection computing module calculated direction angle, in passage 1, first paragraph constant frequency ripple CW crosses the position a of threshold point, calculates the phase value in corresponding point according to method calculated as below, and obtaining phasing matrix is ��a, in passage 2, first paragraph constant frequency ripple CW crosses the position b of threshold point, calculates the phase value in corresponding point according to method calculated as below, and obtaining phasing matrix is ��b; Calculate the phase contrast between the first paragraph constant frequency ripple CW and the first paragraph constant frequency ripple CW1 of passage 2 of passage 1, according to computing formula Obtaining phase difference matrix is �� ��ac; According to formula azimuth formula,Obtaining the deflection of target, wherein, d is antenna distance, and �� is wavelength.
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| CN107783127A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing method |
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| CN107783101A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Rotor wing unmanned aerial vehicle short distance CAS signal processing method and device based on combined waveform |
| CN107783121B (en) * | 2016-08-25 | 2021-02-12 | 大连楼兰科技股份有限公司 | Unmanned automobile anti-collision radar system signal processing system and method based on combined waveform |
| CN107783100B (en) * | 2016-08-25 | 2021-02-19 | 大连楼兰科技股份有限公司 | Rotor unmanned aerial vehicle short-distance anti-collision system signal processing method based on combined waveform |
| CN107783099A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Rotor wing unmanned aerial vehicle short distance CAS signal processing system and method based on combined waveform |
| CN107783101B (en) * | 2016-08-25 | 2021-04-09 | 大连楼兰科技股份有限公司 | Rotor unmanned aerial vehicle short-distance anti-collision system signal processing method and device based on combined waveform |
| CN107783127B (en) * | 2016-08-25 | 2021-04-09 | 大连楼兰科技股份有限公司 | Rotor unmanned aerial vehicle anti-collision millimeter wave radar signal processing method |
| CN111650576A (en) * | 2020-05-11 | 2020-09-11 | 安徽百诚慧通科技有限公司 | Speed and distance measuring method and device of FMCW radar system and storage medium |
| CN113009439A (en) * | 2021-01-29 | 2021-06-22 | 江苏集萃移动通信技术研究所有限公司 | Multi-target detection method based on frequency modulation continuous wave millimeter wave radar |
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